/*
 * Copyright 2020 Tier IV, Inc. All rights reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
#pragma once
#include <vector>

struct LanePoint
{
  double tx;  // translation of X axis
  double ty;  // translation of Y axis
  double rz;  // rotation of Z axis (yaw)
  double sr;  // squared radius
};

class VectorMap
{
public:
  bool load();
  bool getyaw(double x, double y, double & yaw) const;

private:
  std::vector<LanePoint> lane_points_;
};
